Abstract：When an underwater vehicle runs supercavitated in rectilinear motion, its motion characteristics are different from those of a usual fully wetted vehicle. In order to keep the trajectory stability, the special control is adopted for three-channel control about vertical plane、horizontal plane and roll of supercavitating vehicle. This paper analyzed the hydrodynamic characteristics of supercavitating vehicle based on the hydrodynamic mechanism, and established a three-channel space motion model. A control measure of three-channel of rectilinear motion trajectory adopting the bow rudder of cavitator and the tail rudder of vehicle was put forward, and the coupling of three-channel was reduced by using the “bang-bang” rudder operating. The dynamic characteristics of three-channel trajectory were simulated, analysis results show that the course of trajectory was stability; the deviation of depth was small and the oscillation range of roll was controllable
2012, Vol. 31 
